Vehicular vision system with incident recording function

ABSTRACT

A vehicular vision system includes a camera module having an imaging array and spectral filtering at the imaging array. With the camera module attached at an in-cabin side of a vehicle windshield, the imaging array of the camera module views through the windshield and forward of the equipped vehicle. Image data captured by the imaging array is provided to and processed at an ECU for at least two driving assist systems of the vehicle. The captured image data is temporarily saved in volatile memory. Responsive to occurrence of an emergency event, image data captured by the imaging array of the camera module is saved in non-volatile memory. The captured image data saved in non-volatile memory includes (i) captured image data temporarily saved in volatile memory prior to the occurrence of the emergency event and (ii) image data captured for a period of time after the occurrence of the emergency event.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 15/147,300, filed May 5, 2016, now U.S. Pat. No. 10,819,943,which claims the filing benefits of U.S. provisional applications, Ser.No. 62/241,446, filed Oct. 14, 2015, Ser. No. 62/240,773, filed Oct. 13,2015, and Ser. No. 62/158,140, filed May 7, 2015, which are herebyincorporated herein by reference in their entireties.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system for avehicle and, more particularly, to a vehicle vision system that utilizesone or more cameras at a vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for avehicle that utilizes one or more camera modules or cameras (preferablyone or more CMOS cameras) to capture image data representative of imagesexterior of the vehicle, including a camera module configured forattachment at a windshield of a vehicle equipped with the vision system.The camera module comprises a camera, a control and a recording device.When the camera module is disposed at the windshield of the vehicle, thecamera views through the windshield and forward of the equipped vehicle.Responsive to a user input or a triggering event, the control controlsthe recording device to record and save image data captured by thecamera. The saved image data includes image data captured by the cameraafter the user input or triggering event and includes previously savedcaptured image data that was previously saved via a continuous looprecording of image data captured by the camera during operation of thevehicle.

Optionally, the control controls the recording device responsive to auser input, and the user input comprises at least one of (i) a voicecommand from an occupant of the vehicle, (ii) a button or switch and(iii) actuation of a hazard light of the equipped vehicle. Optionally,the control controls the recording device responsive to a triggeringevent, and the triggering event comprises at least one of (i) a forwardcollision warning event, (ii) a lane departure warning event, (iii) anautomatic emergency braking event, (iv) an airbag deployment, (v) asudden or rapid deceleration, (vi) an antilock braking system event,(vii) a hard driver steering or threshold lateral g level event, (viii)a traction control event, (ix) a stability control event, (x) a wideopen throttle event and (xi) a very high speed blind spot/lane changeaid signal.

Optionally, the recording device records and saves image data for aperiod of time after the recording starts. The period of time may varydepending on the type of user input or triggering event. Optionally, therecording device saves previously recorded image data that was recordedfor a period of time before the user input or triggering event. Theperiod of time before the user input may vary depending on the type ofuser input or triggering event.

Therefore, the vision system of the present invention provides a forwardviewing camera module that includes a camera and a recording device. Therecording device records and saves image data captured by the camera torecord and save video images of an incident or event. The recordingdevice may record image data when the vehicle is being operated, and mayrecord over or overwrite previously recorded image data unless thepreviously recorded data has been saved for future review or processing.The recording and saving function is done responsive to a user input ora triggering event, such that captured image data that is desired to besaved is saved when the operator selects the record and save function orwhen a particular event or incident occurs that automatically triggersthe record and save function.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system thatincorporates cameras in accordance with the present invention;

FIG. 2 is a schematic of an incident recording system of the presentinvention; and

FIG. 3 is a schematic of another incident recording system of thepresent invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or objectdetection system and/or alert system operates to capture images exteriorof the vehicle and may process the captured image data to display imagesand to detect objects at or near the vehicle and in the predicted pathof the vehicle, such as to assist a driver of the vehicle in maneuveringthe vehicle in a rearward direction. The vision system includes an imageprocessor or image processing system that is operable to receive imagedata from one or more cameras and provide an output to a display devicefor displaying images representative of the captured image data.Optionally, the vision system may provide a top down or bird's eye orsurround view display and may provide a displayed image that isrepresentative of the subject vehicle, and optionally with the displayedimage being customized to at least partially correspond to the actualsubject vehicle.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes an imaging system or vision system thatincludes a forward viewing camera module 12 that is disposed at andviews through the windshield 14 of the vehicle and captures image dataof the scene exterior and forward of the vehicle (FIG. 1). The cameramodule includes a lens for focusing images at or onto an imaging arrayor imaging plane or imager of the camera. The forward viewing cameraviews through the windshield and forward of the vehicle, such as for amachine vision system (such as for traffic sign recognition, headlampcontrol, pedestrian detection, collision avoidance, lane markerdetection and/or the like). The vision system includes a control orelectronic control unit (ECU) or processor that is operable to processimage data captured by the camera or cameras and may detect objects orthe like and/or provide displayed images at a display device for viewingby the driver of the vehicle. The data transfer or signal communicationfrom the camera to the ECU may comprise any suitable data orcommunication link, such as a vehicle network bus or the like of theequipped vehicle.

The camera system or camera module of the present invention may utilizeaspects of the systems and/or modules described in InternationalPublication Nos. WO 2013/123161 and/or WO 2013/019795, and/or U.S. Pat.Nos. 8,256,821; 7,480,149; 7,289,037; 7,004,593; 6,824,281; 6,690,268;6,445,287; 6,428,172; 6,420,975; 6,326,613; 6,278,377; 6,243,003;6,250,148; 6,172,613 and/or 6,087,953, and/or U.S. Publication Nos.US-2014-0226012 and/or US-2009-0295181, and/or U.S. Publication No.US-2015-0327398, which are all hereby incorporated herein by referencein their entireties. Optionally, the vision system may include aplurality of exterior facing imaging sensors or cameras, such as arearward facing imaging sensor or camera, a forwardly facing camera atthe front of the vehicle, and sidewardly/rearwardly facing cameras atrespective sides of the vehicle, which capture image data representativeof the scene exterior of the vehicle.

The system of the present invention includes a recording device (thatmay be part of the camera module or may be separate from the cameramodule) that is operable to record video image data captured by one ormore of the cameras, such as responsive to an incident or triggeringevent. The recording feature or incident recorder may record image datacaptured by the forward viewing front camera and/or other cameras of thevehicle. The recording device may be a physical addition to the cameramodule itself that would capture videos as they pass from the camera tothe image processor. The vision system and recording system may utilizeaspects of the systems described in U.S. Publication No.US-2014-0218529, which is hereby incorporated herein by reference in itsentirety.

The captured image data is written into a ring buffer and then stored innon-volatile memory in the case of an incident. Drivers can download orerase these videos through an interface such as the radio head unit,multimedia center, instrument cluster menus, or even a direct connectionbetween their personal device and the recorder, such as via a BLUETOOTH®link or WIFI or the like. For example, the communication may use theWIFI 33 connection.

The recorder of the present invention thus uses the advanced driverassist system (ADAS) front camera that is already designed into thevehicle (such as for use in automatic or intelligent headlamp control,lane keep assist, lane departure warning, traffic sign recognitionand/or the like) and can write endlessly to RAM and then save incidentsto non-volatile memory, thus saving the non-volatile memory from toomany writes so it can last the life of the vehicle. The recording devicemay be operable responsive to an incident or may be manually activatedto start and stop recording.

For example, the recording device (such as via the control or processor)may be actuated responsive to a user input (such as a button or switchor) or responsive to detection of an incident or triggering eventoccurring at or near the vehicle. Optionally, the recording device orcontrol may be actuated responsive to a voice signal captured by amicrophone of the system, such as a spoken word or words such as “recordthat” or the like. Optionally, the microphone may be disposed in a smartphone or cell phone or the like. Many vehicle infotainment systems nowhave microphones to handle hands-free calling too, whereby themicrophone of those systems may interface with the recording system.

Thus, the system may be responsive to a microphone input, and this maybe a Controller Area Network (CAN) input for a remote trigger. With sucha configuration, a voice request may be received by a microphone at amirror head unit or instrument cluster, whereby the request or voicecommand can be sent via a CAN message or signal to the recording systemto capture images. In such an application, the recording system wouldnot require its own microphone, yet could be responsive to vocalcommands.

Optionally, the recording device or system may record audio whilerecording and saving captured image data in the non-volatile memory. Forexample, the driver may give a voice command to start a recording andthen may narrate or provide other spoken or audio messages (or playmusic through the radio), whereby the recording device records thecaptured image data and the vocal or audio sounds from in the vehiclecabin, such that when the captured and saved image data file (saved bythe recording device in non-volatile memory) includes image and soundinformation. Optionally, the recording device or system may record otheraudio signals, such as sounds exterior of the vehicle, depending on theparticular application and user input and/or triggering event. Forexample, a user of the system may give a command to record exteriorsound or the system may automatically record exterior sound and/orinterior sound responsive to a collision or impact of the vehicle.

The system may continuously record captured image data, such as at acontinuous loop recording of at least 20 seconds, preferably at least 30seconds or more, where the system continuously records over previouslyrecorded image data (recorded, for example, 20 seconds earlier or 30seconds earlier or the like). The system thus continuously operates totemporarily record captured image data when the vehicle is beingoperated. The user input or triggering event of the recording system ofthe present invention overrides the continuous loop recording andrecords and saves captured image data as a separate data file (that isnot part of the continuous loop recording) for the duration of arecording period of time. When the user actuated recording has stopped(such as due to a period of time elapsing after actuation or due to asecond user input), the continuous loop recording continues while thevehicle is being operated.

Optionally, the recording device may record data responsive to a userinput such as flashing the hazard warning lights (which may be picked upvia a controller area network (CAN) or the like), which provides for amanual recording and storage operation of the system. Optionally, a usermay trigger a recording by pressing an existing user input of thevehicle (such as by pressing a vehicle button multiple times), wherebysuch pressing generates a signal that is communicated (such as via a CANbus or network of the vehicle) to the recording system. For example, auser may trigger the recording by pressing the hazard flasher buttontwice in a row (such as one second apart or the like), such as bypushing it once to turn on the hazard lamp, then pushing it again toturn off the hazard lamp one second (or less) later. The hazardoperation may be communicated via a CAN signal, so the recording systemmay be responsive to such a CAN signal indicative of such a useractuation. Optionally, a patterned actuation or pressing of another userinput of the vehicle may also or otherwise generate a triggering signalto the recording system.

Optionally, the recording device may record data responsive to atriggering event, such as a sudden deceleration of the vehicle or thelike, such that when something happens (such as a small accident or thelike) the system will immediately start recording image data to capturethe incident. Optionally, other triggers may start the recordingfeature. For example, the recording device may be activated to recorddata responsive to a forward collision warning system (to beginrecording data before, during and after a collision or near collision),a lane departure warning system, an automatic emergency braking system,an airbag deployment, a sudden or rapid deceleration, such as harddriver braking (such as at 0.4 gs or more), an antilock braking systemevent, a hard driver steering or threshold lateral g level, a tractioncontrol event, a stability control event, a wide open throttle event,and/or a very high speed blind spot/lane change aid signal (such as whenan equipped vehicle is passed by another vehicle at a high relativespeed, such as at least about 50 kph relative speed, or 100 kph relativeor delta speed or more).

Once activated, the recording device may record data through theincident or for a period of time following the triggering event orinput. For example, the system may quickly (maybe after only about twoseconds) stop recording and start saving after an airbag deployment.Optionally, the system may start recording and continue recording forsome duration to capture a passing car, and then save the captured data.For a stability control event, the system may record data for about 10seconds before (as already temporarily recorded in the continuous looprecording) and 10 seconds after (or 10 seconds before and record untilthe vehicle has stopped/stabilized) and then save the captured data.When hazard lights are actuated, the system may record for a longduration such as about 30 seconds before (as already temporarilyrecorded in the continuous loop recording) and about 30 seconds afterthe triggering event. For a vocal input, the system may start and stopthe recording device responsive to the user's voice, or may use thevoice signal only as the trigger and treat it like the flashers andrecord for a period of time before the signal and for a period of timeafter the signal.

Optionally, for a situation when a pedestrian lays down in front of avehicle and claims that the driver hit them, the system may provide away to save the captured data that was captured before the driverthought to record the data (such as the data that was alreadytemporarily recorded in the continuous loop recording). For example, ifthe driver triggers the recording, the recording may save about 30seconds (or more) of data captured before the triggering and maycontinue to save captured image data for a period of time following thedriver's triggering, thereby saving captured image data that encompassessubstantially the entire event. Thus, the system provides the drivermore time to see what happened, understand what is going on, and thenthink about recording the event or incident.

Optionally, when at the likes of a race track or when the vehicle isdriven along the likes of “scenic routes”, the driver may want tocapture images of the race or of the scenery, and the system thus mayallow the driver to push “start recording” and then have it record somefixed amount of time automatically. The triggering or “start” may comefrom a multimedia center. The system may indicate to the driver that itis recording and saving video so that the driver does not turn off thevehicle until the file is saved. Optionally, the recording device mayremain activated and may run on battery power until the system is donesaving the data.

The system thus may record video images or image data (and optionallyother vehicle information or the like) to record an incident or event.The recorded data is saved for later review or processing, and may besaved for a period of time following the recording event or until theuser manually deletes the recording. The recorded data may be downloadedto a smart phone or server or the like, such as via a WIFI link orvehicle to infrastructure (v2x) communication or the like. For vehicleswith WIFI, the recorded data can be downloaded to the vehicle owner'shome computer while interfacing with the vehicle when it is parked atthe owner's home. For example, if the WIFI of the vehicle remains activeeven when the vehicle is shut down, the owner can link to the vehicle'sWIFI connection (such as via Ethernet connection between the vehiclecontrol and the owner's router at home) to access and download therecorded data from the vehicle.

With such a WIFI connection (or other communication between a homecomputer or system and the vehicle), the vehicle user or owner may alsoor otherwise download the latest trip data (such as fuel consumption,mileage, etc.) when he or she arrives at home or at the office or thelike. Optionally, a MARVELL chip can do both normal WIFI (a-n) and802.11P (V2V) and the like, and the system may also utilize the 802.11Pcommunication to pay road tolls. Optionally, the recorded data can becommunicated via a wireless communication to a remote server or thelike, or the recorded data can be saved to a portable data storagedevice, such as an SD card or the like, for later review and processing.

Therefore, the present invention provides an incident recording featurethat includes the recording device as part of the forward viewing cameramodule. The recording device records image data captured by the camera,and may commence recording responsive to a user input or command and/orresponsive to a triggering event. Depending on the input or event, thesystem may record and save image data for a particular period of timefollowing the input or event (and optionally may save image datarecorded for a particular period of time before the input or event sothat the recording includes earlier image data for situations where theearlier information may be desired). The saved recorded data can bedownloaded to a remote server or to the vehicle owner's computer orsmart phone or the like, such as via a wireless communication or WIFIlink, such as when the vehicle is parked at the user's home or office.

As the Dash Cam becomes a more popular aftermarket option, OEMs arelooking for ways to provide this feature as an option to theircustomers. The basic requirement for such a system is to be able to savea short video clip a short time before and after a “trigger event”, sothat it can be recovered and played back later. The trigger event can bea user request (such as via a user input or button or switch or a uservoice request or the like), or a vehicle generated trigger, such asactivation of an automatic emergency braking (AEB) system command by theforward camera module (FCM), or even an airbag deployment. Optionally,the trigger may comprise a remote trigger (such as from a remote source,such as a user's smart phone or the like or such as from a car2car orv2v or v2x communication system or the like), where the signal isreceived and provided to the controller or processor via a CAN input ofthe vehicle.

The length of recording time will depend on the triggering event. Forexample, for vehicle triggers (AEB message, airbag deployed message,etc.), 15 seconds before and 5 seconds after the trigger may be writtento the flash memory. Optionally, for user request activated triggers,the recording time may be 60 seconds before and 60 seconds after thetrigger. Optionally, the user can extend the recording time, such as oneextension of about two minutes, by making the request a second timewhile the first recording is still in progress. Each event may be savedin a file with a name created that includes the date and time as part ofthe file name. Up to 10 to 15 such files may be stored in flash memoryat any time, and if memory reaches full, the oldest files will bedeleted first.

From a cost stand point, using the same imager/lens for both machinevision and video streaming has the lowest cost (no additional lens andimager required). However, this has some disadvantages, such as lowerresolution and lack of color. If a 1280×960 resolution is acceptable,and the users are willing to accept the output of “colorization”algorithms, this becomes a viable solution.

The video streaming strategy should be designed to work across allcamera (such as an APTINA megapixel based Gen 3 camera platform or thelike) hardware variations. Possible platforms include the BOLERO basedECU(s), and the proposed CALYPSO based ECUs for GENERAL MOTORSCORPORATION (GM). The same strategy may work in portrait or landscapeversions.

As far as possible, the video streaming option should require minimalredesign to the current CHRYSLER/MAZDA FCM ECU board designs. Theexternal package for the FCM with the video streaming may be slightlylarger, but should still fit inside the same bracket and within thespace available in the target vehicle. Optionally, the design shouldprotect for receiving a camera input from a surround view camera systemwith minimal modifications.

The additional hardware will require power from the vehicle, such asabout 3.3 volts, at 150 mA, and may need to be able to operate in atemperature range of about −40 degrees C. to about +85 degrees C.

The video streaming section may be considered a non-critical functionand can be switched off at about 75 degrees C. to reduce the totalcamera module internal self-heating. This reduction in internal powerdissipation will help allow the rest of the critical electronics runningup to about 85 degrees C. In the case where the video streaming board issimply powered off the imager 3.3 volt supply, this early switch-off maynot take place, so the components will have to operate from −40 degreesC. to +85 degrees C.

The system may include a WIFI antenna, which may be designed to operateat 5.0 GHz (this limitation might help with BLUETOOTH conflicts on 2.4GHz). There may be a provision to permit WIFI video streamingtransmissions to be transmitted and received from the camera module. Inthe event a special lower cover is needed for the video streamingmodule, this cover may be designed to accommodate this. Note that anyeffect on overall module EMC (electromagnetic control) should beconsidered.

Optionally, the system may receive audio, such as from a microphone.Most vehicles will have microphones already available for hands-freephone or VR, and this audio signal may be brought into the FCM module.Optionally, a small microphone may be added into the FCM with smallopenings in the lower cover. While this microphone location is notoptimal, the microphone should be capable of collecting acceptable audiosignals.

In the event new application software is required, the bootloader designshould permit a complete SW reflash over the CAN bus through theuniversal asynchronous receiver/transmitter (UART) communications port.

The interface connections with the rest of the camera module may includevideo input lines, such as video lines comprising 12 bit parallel dataand a pixel clock (13 signals total). The logic level voltage may beabout 1.8 volts.

A UART serial connection may provide a full duplex connection with aspare port on the control processor (TX, RX, two signals total). Thelogic level voltage may be about 3.3 volts.

Optionally, a single active low control line may be provided to allowthe microcontroller to reset the EDR video processor. The logic levelvoltage may be about 3.3 volts.

Optionally, an antenna connection may be provided as needed for the WIFIRF output. This may be considered as part of the Event Data Recorder(EDR) subsystem.

The system may operate at about 1.8 volts power at 150 mA (such as foran AMBARELLA EDR processor or the like), with 3.3 volts for I.O. railsto the microcontroller. Power at about 1.8 volts at 10 mA may beprovided for the WIFI chip in low power beacon only mode.

On initial power up, the processor will boot from the flash, run itsself-test initialization, and wait for a UART command with itsinitialization parameter values before proceeding to video bufferingmode. On receiving the UART command, the module will turn on theexternal WiFi host, and begin to continuously save video frames in asmall circular buffer in DDR. Optionally, and desirably, the system mayreduce the number of writes to flash, since the unit life expectancyshould be at least about 15 years, and continuously writing to the flashwill reduce its life expectancy.

In the typical scenario, the video will already be processed by a“colorization” algorithm to convert the RCCC into a pseudo color image.The video should also be compressed using a popular industry standardcompression format such as H.264/MPEG4 or H.265.

The WIFI link will be available for pairing an external WIFI client.Once the module is paired, streaming video will be available over theWIFI link to the user as well, so the external paired module (such as asmart phone or tablet or infotainment system or the like) will also beable to see and save the video as well. A Human-Machine Interface (HMI)available on the vehicle (radio or cluster) will allow the pairingpassword to be changed to something other than the factory default. Inthe event the password is “lost” the factory default password may berestored by a battery disconnect.

If the module receives a trigger to save video, all the video in thecircular buffer, as well as a small amount of post-trigger video, willbe written to a time/date coded file in flash memory. The WiFi link willallow a user interface to copy files off the internal flash to anexternal paired device.

On power-up, and also after each event write to flash is completed, theprocessor may check for free memory available in the flash. If there isinsufficient memory available to write at least 240 seconds of video,the oldest file(s) in flash memory can be deleted to free up the minimumrequired space.

Because the forward camera module is a safety module and also needs tomeet the security needs of all OEMs, the Event Data Recorder (EDR)option will be provided in such a way that the original functionality ofthe camera module shall not be compromised by any EDR component failure,or deliberate attempt by a hacker to access the camera componentsthrough the EDR WiFi link. The following possible use cases shall beprotected for in the EDR architecture:

a) Failure of the EDR module to boot up and run. If the processor andsoftware fail its startup diagnostics due to hardware (HW) failure, theEDR module connections may default in such a way as to not prevent themain camera functionality. Therefore if the processor is not operatingcorrectly, the twelve parallel imager inputs, pixel-clock, and UARTconnection lines should all be forced to go tri-state, or remain asinputs only.

b) If the camera module microcontroller determines that the EDRfunctionality is suspect or not needed, it can choose to remove powerfrom the processor and its associated components. If this is done, allconnections between the processor and pixel data lines and pixel clockshall go to tri-state mode.

c) In the event that the software (SW) on the processor is hackedthrough the WIFI link, since the camera pixel input cannot be forced tobe outputs, the only vulnerability to the rest of the camera system willbe through the UART connection. Therefore, the UART connection andprotocol shall be designed in such a way that the malicious SW cannotinfluence the rest of the camera module functionality. In the event theprocessor floods the UART with continuous messages, the microcontrollercan just remove power and set the required Diagnostic Trouble Code(DTC).

The UART link concept may permit complete isolation of the safetycritical operating components from the video recording section.Therefore, there may be no control commands permitted to be sent fromthe EDR components to the main microcontroller. All messaging willfollow a master/slave format except for the 1 second heartbeat statusmessage. In the event a failure occurs that causes the module to floodthe UART with continuous UART transmissions, the microcontroller willdetect this and disable the UART port and report this as EDR modulefailure.

The software is able to report the following error codes and status bitsin the heartbeat message, sent once per second to the microcontroller:

-   -   Success/failure to pass internal self-tests (DDR, flash,        initialization of WiFi);    -   SW error;    -   Image is coming in from camera (pixel clock is running);    -   If WiFi is operating, and channel number;    -   External device successfully paired on WiFi;    -   An event has been triggered and the video is being saved to        flash;    -   Memory is full, and previous recordings are being deleted.

Examples of UART commands from the processor to the EDR processorinclude:

-   -   UART initial setup message, which will contain:        -   the WiFi node broadcast name (24 ASCII characters max,            trailing blanks will be deleted),        -   the WiFi MAC address allocated to it at the factory            end-of-line (EOL) tester by a calibration file, or the            default MAC address,        -   the current WiFi password (eight ASCII characters), may            default to last 8 digits of the VIN, but such a simple            default may encourage hackers,        -   the minimum number bytes NVRAM free space to be available            able to save the event trigger event data. In the event the            processor realizes insufficient free space is available, the            oldest files in memory may be deleted until sufficient free            space is available.    -   UART record event trigger message, which will contain:        -   The amount of data to save is a predetermined number of            seconds of data (maximum limited by RAM memory available)            before the trigger, and another predetermined number of            seconds after the trigger.        -   The file name to be used for this data save (up to 60 ASCII            characters). Usually the file name will carry date and time            information coded in the name.        -   As a special consideration, (and if available to the FCM on            the vehicle bus), abbreviated GPS coordinates may also be            included in the file name, or in the header of the file.

Some possible solutions include:

-   -   Components added to the FCM on the main board. This will require        two versions of the camera module, one with EDR and one without.        If the overall size of the module is not a critical factor, two        versions of the same PCB could be built, one with de-populated        EDR components.    -   Modification of the imager board to split up the signal into two        parts, one going to the main FCM board, and the other to the        video streaming board, or section of the main board. A method of        connecting power and control may be added to the main board, as        well as extra current capability in the power supplies.    -   A video streaming board that is in between the imager connector        and the main FCM board, and passes the video through. This        scheme may still need an additional connector between it and the        main FCM board for power and control.    -   An extra connector may be added to the FCM main board, and will        contain image signal pins and power and control pins. The video        streaming board will plug onto this connector. The extra        connector need only be populated for FCMs that need the option,        however, all PCBs will need to give up this space permanently,        and allow extra power supply headroom for this.

The system may communicate with other systems, such as via avehicle-to-vehicle communication system or a vehicle-to-infrastructurecommunication system or the like. Such car2car or vehicle to vehicle(V2V) and vehicle-to-infrastructure (car2X or V2X or V2I or 4G or 5G)technology provides for communication between vehicles and/orinfrastructure based on information provided by one or more vehiclesand/or information provided by a remote server or the like. Such vehiclecommunication systems may utilize aspects of the systems described inU.S. Pat. Nos. 6,690,268; 6,693,517 and/or 7,580,795, and/or U.S.Publication Nos. US-2014-0375476; US-2014-0218529; US-2013-0222592;US-2012-0218412; US-2012-0062743: US-2015-0251599; US-2015-0158499;US-2015-0124096; US-2015-0352953 and/or US-2016-0036917, and/or U.S.patent application Ser. No. 14/996,570, filed Jan. 15, 2016, now U.S.Pat. No. 10,032,369, which are hereby incorporated herein by referencein theft entireties.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEYEQ2 or EYEQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, a two dimensional array of a plurality ofphotosensor elements arranged in at least 640 columns and 480 rows (atleast a 640×480 imaging array, such as a megapixel imaging array (suchas 1 to 2 MP) or the like), with a respective lens focusing images ontorespective portions of the array. The photosensor array may comprise aplurality of photosensor elements arranged in a photosensor array havingrows and columns. Preferably, the imaging array has at least 300,000photosensor elements or pixels, more preferably at least 500,000photosensor elements or pixels and more preferably at least 1 millionphotosensor elements or pixels. The imaging array may capture colorimage data, such as via spectral filtering at the array, such as via anRGB (red, green and blue) filter or via a red/red complement filter orsuch as via an RCCC (red, clear, clear, clear) filter or the like. Thelogic and control circuit of the imaging sensor may function in anyknown manner, and the image processing and algorithmic processing maycomprise any suitable means for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 8,694,224;7,005,974; 5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447;6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642;6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563;6,891,563; 6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258;7,145,519; 7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466;7,592,928; 7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or5,786,772, and/or International Publication Nos. WO 2011/028686; WO2010/099416; WO 2012/061567; WO 2012/068331; WO 2012/075250; WO2012/103193; WO 2012/0116043; WO 2012/0145313; WO 2012/0145501; WO2012/145818; WO 2012/145822; WO 2012/158167; WO 2012/075250; WO2012/0116043; WO 2012/0145501; WO 2012/154919; WO 2013/019707; WO2013/016409; WO 2013/019795; WO 2013/067083; WO 2013/070539; WO2013/043661; WO 2013/048994; WO 2013/063014, WO 2013/081984; WO2013/081985; WO 2013/074604; WO 2013/086249; WO 2013/103548; WO2013/109869; WO 2013/123161; WO 2013/126715; WO 2013/043661; WO2013/158592 and/or WO 2014/204794, which are all hereby incorporatedherein by reference in their entireties. The system may communicate withother communication systems via any suitable means, such as by utilizingaspects of the systems described in International Publication Nos. WO2010/144900; WO 2013/043661 and/or WO 2013/081985, and/or U.S.Publication No. US-2012-0062743, which are hereby incorporated herein byreference in their entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras (such as variousimaging sensors or imaging array sensors or cameras or the like, such asa CMOS imaging array sensor, a CCD sensor or other sensors or the like)and vision systems described in U.S. Pat. Nos. 5,760,962; 5,715,093;6,922,292; 6,757,109; 6,717,610; 6,590,719; 6,201,642; 5,796,094;6,559,435; 6,831,261; 6,822,563; 6,946,978; 7,720,580; 8,542,451;7,965,336; 7,480,149; 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,937,667;7,123,168; 7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176;6,313,454 and/or 6,824,281, and/or International Publication Nos. WO2009/036176; WO 2009/046268; WO 2010/099416; WO 2011/028686 and/or WO2013/016409, and/or U.S. Pat. Publication Nos. US 2010-0020170 and/orUS-2009-0244361, which are all hereby incorporated herein by referencein their entireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems or driver assistance systems, such as avehicle headlamp control system, such as the type disclosed in U.S. Pat.Nos. 5,796,094; 6,097,023; 6,320,176; 6,559,435; 6,831,261; 7,004,606;7,339,149 and/or 7,526,103, which are all hereby incorporated herein byreference in their entireties, a rain sensor, such as the typesdisclosed in commonly assigned U.S. Pat. Nos. 6,353,392; 6,313,454;6,320,176 and/or 7,480,149, which are hereby incorporated herein byreference in their entireties, a vehicle vision system, such as aforwardly, sidewardly or rearwardly directed vehicle vision systemutilizing principles disclosed in U.S. Pat. Nos. 5,550,677; 5,670,935;5,760,962; 5,877,897; 5,949,331; 6,222,447; 6,302,545; 6,396,397;6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268; 6,717,610;6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563; 6,946,978 and/or7,859,565, which are all hereby incorporated herein by reference intheir entireties, a trailer hitching aid or tow check system, such asthe type disclosed in U.S. Pat. No. 7,005,974, which is herebyincorporated herein by reference in its entirety, a reverse or sidewardimaging system, such as for a lane change assistance system or lanedeparture warning system or for a blind spot or object detection system,such as imaging or detection systems of the types disclosed in U.S. Pat.Nos. 7,881,496; 7,720,580; 7,038,577; 5,929,786 and/or 5,786,772, whichare hereby incorporated herein by reference in their entireties, a videodevice for internal cabin surveillance and/or video telephone function,such as disclosed in U.S. Pat. Nos. 5,760,962; 5,877,897; 6,690,268and/or 7,370,983, and/or U.S. Publication No. US-2006-0050018, which arehereby incorporated herein by reference in their entireties, a trafficsign recognition system, a system for determining a distance to aleading or trailing vehicle or object, such as a system utilizing theprinciples disclosed in U.S. Pat. Nos. 6,396,397 and/or 7,123,168, whichare hereby incorporated herein by reference in their entireties, and/orthe like.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. Publication No.US-2012-0162427, which are hereby incorporated herein by reference intheir entireties. The video mirror display may comprise any suitabledevices and systems and optionally may utilize aspects of the compassdisplay systems described in U.S. Pat. Nos. 7,370,983; 7,329,013;7,308,341; 7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044;4,953,305; 5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226;5,802,727; 5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or6,642,851, and/or European patent application, published Oct. 11, 2000under Publication No. EP 0 1043566, and/or U.S. Publication No.US-2006-0061008, which are all hereby incorporated herein by referencein their entireties. Optionally, the video mirror display screen ordevice may be operable to display images captured by a rearward viewingcamera of the vehicle during a reversing maneuver of the vehicle (suchas responsive to the vehicle gear actuator being placed in a reversegear position or the like) to assist the driver in backing up thevehicle, and optionally may be operable to display the compass headingor directional heading character or icon when the vehicle is notundertaking a reversing maneuver, such as when the vehicle is beingdriven in a forward direction along a road (such as by utilizing aspectsof the display system described in International Publication No. WO2012/051500, which is hereby incorporated herein by reference in itsentirety).

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed in International Publication Nos. WO 2010/099416; WO2011/028686; WO 2012/075250; WO 2013/019795; WO 2012/075250; WO2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869,and/or U.S. Publication No. US-2012-0162427, which are herebyincorporated herein by reference in their entireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

The invention claimed is:
 1. A vehicular vision system, the vehicularvision system comprising: a camera module configured for attachment atan in-cabin side of a windshield of a vehicle equipped with thevehicular vision system, the camera module comprising (i) an imagingarray having at least one million photosensor pixels arranged inmultiple rows and columns and (ii) spectral filtering at the imagingarray; wherein, with the camera module attached at the in-cabin side ofthe windshield of the equipped vehicle, the imaging array of the cameramodule views through the windshield and forward of the equipped vehicle,and wherein the imaging array of the camera module captures image data;an electronic control unit (ECU) disposed in the equipped vehicle, theECU comprising an image processor; wherein image data captured by theimaging array of the camera module is provided to the ECU; wherein, withthe camera module attached at the in-cabin side of the windshield of theequipped vehicle, image data captured by the imaging array of the cameramodule and provided to the ECU is processed at the ECU for at least twodriving assist systems of the equipped vehicle; wherein the at least twodriving assist systems comprises at least two driving assist systemsselected from the group consisting of (i) a headlamp control system,(ii) a pedestrian detection system, (iii) a collision avoidance system,(iv) a lane marker detection system and (v) an automatic emergencybraking system; wherein, with the camera module attached at the in-cabinside of the windshield of the equipped vehicle, image data captured bythe imaging array of the camera module is saved in volatile memory as acontinuous loop recording of captured image data; wherein, with thecamera module attached at the in-cabin side of the windshield of theequipped vehicle, and responsive to occurrence of an emergency event,image data captured by the imaging array of the camera module that issaved in volatile memory for a first period of time prior to theoccurrence of the emergency event is moved to non-volatile memory andimage data captured by the imaging array of the camera module at thetime of and for a second period of time after the occurrence of theemergency event is saved in non-volatile memory; wherein, responsive tothe occurrence of the emergency event, the captured image data saved innon-volatile memory includes (i) image data captured by the imagingarray of the camera module and saved in volatile memory for the firstperiod of time prior to the occurrence of the emergency event and (ii)image data captured by the imaging array of the camera module for thesecond period of time after the occurrence of the emergency event; andwherein the second period of time after the occurrence of the emergencyevent lasts until a user-initiated event occurs.
 2. The vehicular visionsystem of claim 1, wherein the emergency event comprises automaticemergency braking of the equipped vehicle.
 3. The vehicular visionsystem of claim 1, wherein the emergency event comprises a forwardcollision warning generated to alert a driver of the equipped vehicle ofa potential collision.
 4. The vehicular vision system of claim 1,wherein the emergency event comprises deployment of an airbag of theequipped vehicle.
 5. The vehicular vision system of claim 1, wherein theemergency event comprises a sudden deceleration of the equipped vehicle.6. The vehicular vision system of claim 5, wherein the suddendeceleration comprises braking of the equipped vehicle at 0.4 g or more.7. The vehicular vision system of claim 1, wherein, with the cameramodule attached at the in-cabin side of the windshield of the equippedvehicle, image data captured by the imaging array of the camera modulethat is saved in volatile memory is overwritten by newly captured imagedata as part of a continuous loop recording of captured image data. 8.The vehicular vision system of claim 7, wherein the continuous looprecording of captured image data comprises a continuous loop recordingof at least 20 seconds.
 9. The vehicular vision system of claim 1,wherein, responsive to the occurrence of the emergency event, image datacaptured by the imaging array of the camera module that is saved innon-volatile memory includes image data captured by the imaging array ofthe camera module and saved in volatile memory for at least 15 secondsprior to the occurrence of the emergency event.
 10. The vehicular visionsystem of claim 1, wherein, responsive to the occurrence of theemergency event, image data captured by the imaging array of the cameramodule that is saved in non-volatile memory includes image data capturedby the imaging array of the camera module and saved in volatile memoryfor up to 15 seconds prior to the occurrence of the emergency event. 11.The vehicular vision system of claim 1, wherein, responsive to theoccurrence of the emergency event, image data captured by the imagingarray of the camera module that is saved in non-volatile memory includesimage data captured by the imaging array of the camera module for atleast 5 seconds after the occurrence of the emergency event.
 12. Thevehicular vision system of claim 1, wherein, responsive to theoccurrence of the emergency event, image data captured by the imagingarray of the camera module that is saved in non-volatile memory includes(i) image data captured by the imaging array of the camera module andsaved in volatile memory for up to 15 seconds prior to the occurrence ofthe emergency event and (ii) image data captured by the imaging array ofthe camera module for at least 5 seconds after the occurrence of theemergency event.
 13. The vehicular vision system of claim 1, wherein,responsive to the occurrence of the emergency event, image data capturedby the imaging array of the camera module that is saved in non-volatilememory includes image data captured by the imaging array of the cameramodule and saved in volatile memory for the first period of time priorto the occurrence of the emergency event.
 14. The vehicular visionsystem of claim 13, wherein the first period of time prior to theoccurrence of the emergency event varies depending on a type ofemergency event that occurs.
 15. The vehicular vision system of claim 1,wherein the non-volatile memory is part of a recording device of theequipped vehicle.
 16. The vehicular vision system of claim 1, whereinthe non-volatile memory is accommodated within the camera module. 17.The vehicular vision system of claim 1, wherein the image processor isaccommodated within the camera module.
 18. The vehicular vision systemof claim 1, wherein, with the camera module attached at the in-cabinside of the windshield of the equipped vehicle, and responsive to theoccurrence of the emergency event, the image data captured by theimaging array of the camera module and saved in volatile memory for thefirst period of time prior to the occurrence of the emergency event andthe image data captured by the imaging array of the camera module forthe second period of time after the occurrence of the emergency eventare saved in non-volatile memory as a single data file.
 19. Thevehicular vision system of claim 1, wherein the vehicular vision systemis operable to communicate the captured image data saved in non-volatilememory to a remote device via a wireless communication.
 20. Thevehicular vision system of claim 1, wherein, with the camera moduleattached at the in-cabin side of the windshield of the equipped vehicle,and at vehicle start up and responsive to the occurrence of theemergency event, the ECU determines available non-volatile memory forsaving captured image data, and wherein, if the determined availablenon-volatile memory is below a threshold level, the ECU deletes anoldest saved data file from the non-volatile memory.
 21. The vehicularvision system of claim 1, wherein the spectral filtering at the imagingarray comprises red spectral filtering that filters red light incidentat some photosensor pixels of the at least one million photosensorpixels of the imaging array.
 22. The vehicular vision system of claim21, wherein the spectral filtering at the imaging array comprisesred-complement spectral filtering that filters red-complement lightincident at other photosensor pixels of the at least one millionphotosensor pixels of the imaging array.
 23. The vehicular vision systemof claim 21, wherein the spectral filtering at the imaging arraycomprises green spectral filtering that filters green light incident atother photosensor pixels of the at least one million photosensor pixelsof the imaging array.
 24. The vehicular vision system of claim 23,wherein the spectral filtering at the imaging array comprises bluespectral filtering that filters blue light incident at other photosensorpixels of the at least one million photosensor pixels of the imagingarray.
 25. The vehicular vision system of claim 1, wherein, with thecamera module attached at the in-cabin side of the windshield of theequipped vehicle, the occurrence of the emergency event is determined,at least in part, by processing at the ECU of image data captured by theimaging array of the camera module and provided to the ECU.
 26. Thevehicular vision system of claim 25, wherein the emergency eventcomprises automatic emergency braking of the equipped vehicle.
 27. Thevehicular vision system of claim 26, wherein the image processorcomprises an image processing chip.
 28. A vehicular vision system, thevehicular vision system comprising: a camera module configured forattachment at an in-cabin side of a windshield of a vehicle equippedwith the vehicular vision system, the camera module comprising (i) animaging array having at least one million photosensor pixels arranged inmultiple rows and columns and (ii) spectral filtering at the imagingarray; wherein, with the camera module attached at the in-cabin side ofthe windshield of the equipped vehicle, the imaging array of the cameramodule views through the windshield and forward of the equipped vehicle,and wherein the imaging array of the camera module captures image data;an electronic control unit (ECU) disposed in the equipped vehicle, theECU comprising an image processor; wherein image data captured by theimaging array of the camera module is provided to the ECU; wherein, withthe camera module attached at the in-cabin side of the windshield of theequipped vehicle, image data captured by the imaging array of the cameramodule and provided to the ECU is processed at the ECU for an automaticemergency braking system of the equipped vehicle; wherein, with thecamera module attached at the in-cabin side of the windshield of theequipped vehicle, image data captured by the imaging array of the cameramodule is saved in volatile memory as a continuous loop recording ofcaptured image data; wherein, with the camera module attached at thein-cabin side of the windshield of the equipped vehicle, and responsiveto automatic emergency braking of the equipped vehicle by the automaticemergency braking system of the equipped vehicle image data captured bythe imaging array of the camera module that is saved in volatile memoryfor a first period of time prior to occurrence of the automaticemergency braking is moved to non-volatile memory and image datacaptured by the imaging array of the camera module at the time of andfor a second period of time after the occurrence of the automaticemergency braking is saved in non-volatile memory; wherein, responsiveto the automatic emergency braking, the captured image data saved innon-volatile memory includes (i) image data captured by the imagingarray of the camera module and saved in volatile memory for the firstperiod of time prior to the automatic emergency braking of the equippedvehicle and (ii) image data captured by the imaging array of the cameramodule for the second period of time after the automatic emergencybraking of the equipped vehicle; and wherein the second period of timeafter the automatic emergency braking lasts until a user-initiated eventoccurs.
 29. The vehicular vision system of claim 28, wherein, with thecamera module attached at the in-cabin side of the windshield of theequipped vehicle, image data captured by the imaging array of the cameramodule and provided to the ECU is processed at the ECU for a headlampcontrol system of the equipped vehicle.
 30. The vehicular vision systemof claim 28, wherein, with the camera module attached at the in-cabinside of the windshield of the equipped vehicle, image data captured bythe imaging array of the camera module and provided to the ECU isprocessed at the ECU for a pedestrian detection system of the equippedvehicle.
 31. The vehicular vision system of claim 28, wherein, with thecamera module attached at the in-cabin side of the windshield of theequipped vehicle, and responsive to deployment of an airbag of theequipped vehicle, image data captured by the imaging array of the cameramodule is saved in non-volatile memory.
 32. The vehicular vision systemof claim 28, wherein, with the camera module attached at the in-cabinside of the windshield of the equipped vehicle, and responsive to asudden deceleration of the equipped vehicle, image data captured by theimaging array of the camera module is saved in non-volatile memory. 33.The vehicular vision system of claim 32, wherein the sudden decelerationcomprises braking of the equipped vehicle at 0.4 g or more.
 34. Thevehicular vision system of claim 28, wherein, with the camera moduleattached at the in-cabin side of the windshield of the equipped vehicle,image data captured by the imaging array of the camera module that issaved in volatile memory is overwritten by newly captured image data aspart of a continuous loop recording of captured image data.
 35. Thevehicular vision system of claim 34, wherein the continuous looprecording of captured image data comprises a continuous loop recordingof at least 20 seconds.
 36. The vehicular vision system of claim 28,wherein, responsive to the automatic emergency braking of the equippedvehicle, image data captured by the imaging array of the camera modulethat is saved in non-volatile memory includes image data captured by theimaging array of the camera module and saved in volatile memory for atleast 15 seconds prior to the automatic emergency braking of theequipped vehicle.
 37. The vehicular vision system of claim 28, wherein,responsive to the automatic emergency braking of the equipped vehicle,image data captured by the imaging array of the camera module that issaved in non-volatile memory includes image data captured by the imagingarray of the camera module and saved in volatile memory for up to 15seconds prior to the automatic emergency braking of the equippedvehicle.
 38. The vehicular vision system of claim 28, wherein,responsive to the automatic emergency braking of the equipped vehicle,image data captured by the imaging array of the camera module that issaved in non-volatile memory includes image data captured by the imagingarray of the camera module for at least 5 seconds after the automaticemergency braking of the equipped vehicle.
 39. The vehicular visionsystem of claim 28, wherein, responsive to the automatic emergencybraking of the equipped vehicle, image data captured by the imagingarray of the camera module that is saved in non-volatile memory includes(i) image data captured by the imaging array of the camera module andsaved in volatile memory for up to 15 seconds prior to the automaticemergency braking and (ii) image data captured by the imaging array ofthe camera module for at least 5 seconds after the automatic emergencybraking of the equipped vehicle.
 40. The vehicular vision system ofclaim 28, wherein the non-volatile memory is part of a recording deviceof the equipped vehicle.
 41. The vehicular vision system of claim 28,wherein the non-volatile memory is accommodated within the cameramodule.
 42. The vehicular vision system of claim 28, wherein the imageprocessor is accommodated within the camera module.
 43. The vehicularvision system of claim 28, wherein, with the camera module attached atthe in-cabin side of the windshield of the equipped vehicle, andresponsive to the automatic emergency braking of the equipped vehicle,the image data captured by the imaging array of the camera module andsaved in volatile memory for the first period of time prior to theautomatic emergency braking and the image data captured by the imagingarray of the camera module for the second period of time after theautomatic emergency braking are saved in non-volatile memory as a singledata file.
 44. The vehicular vision system of claim 28, wherein thevehicular vision system is operable to communicate the captured imagedata saved in non-volatile memory to a remote device via a wirelesscommunication.
 45. The vehicular vision system of claim 28, wherein,with the camera module attached at the in-cabin side of the windshieldof the equipped vehicle, and at vehicle start up and responsive to theautomatic emergency braking of the equipped vehicle, the ECU determinesavailable non-volatile memory for saving captured image data, andwherein, if the determined available non-volatile memory is below athreshold level, the ECU deletes an oldest saved data file from thenon-volatile memory.
 46. The vehicular vision system of claim 28,wherein the spectral filtering at the imaging array comprises redspectral filtering that filters red light incident at some photosensorpixels of the at least one million photosensor pixels of the imagingarray.
 47. The vehicular vision system of claim 46, wherein the spectralfiltering at the imaging array comprises red-complement spectralfiltering that filters red-complement light incident at otherphotosensor pixels of the at least one million photosensor pixels of theimaging array.
 48. The vehicular vision system of claim 46, wherein thespectral filtering at the imaging array comprises green spectralfiltering that filters green light incident at other photosensor pixelsof the at least one million photosensor pixels of the imaging array. 49.The vehicular vision system of claim 48, wherein the spectral filteringat the imaging array comprises blue spectral filtering that filters bluelight incident at other photosensor pixels of the at least one millionphotosensor pixels of the imaging array.
 50. The vehicular vision systemof claim 28, wherein, with the camera module attached at the in-cabinside of the windshield of the equipped vehicle, the automatic emergencybraking of the equipped vehicle is responsive, at least in part, toprocessing at the ECU of image data captured by the imaging array of thecamera module and provided to the ECU.
 51. The vehicular vision systemof claim 50, wherein the image processor comprises an image processingchip.
 52. A vehicular vision system, the vehicular vision systemcomprising: a camera module configured for attachment at an in-cabinside of a windshield of a vehicle equipped with the vehicular visionsystem, the camera module comprising (i) an imaging array having atleast one million photosensor pixels arranged in multiple rows andcolumns, (ii) spectral filtering at the imaging array and (iii) an imageprocessor; wherein, with the camera module attached at the in-cabin sideof the windshield of the equipped vehicle, the imaging array of thecamera module views through the windshield and forward of the equippedvehicle, and wherein the imaging array of the camera module capturesimage data; wherein, with the camera module attached at the in-cabinside of the windshield of the equipped vehicle, image data captured bythe imaging array of the camera module is processed by the imageprocessor for at least two driving assist systems of the equippedvehicle; wherein the at least two driving assist systems comprises atleast two driving assist systems selected from the group consisting of(i) a headlamp control system, (ii) a pedestrian detection system, (iii)a collision avoidance system, (iv) a lane marker detection system and(v) an automatic emergency braking system; wherein, with the cameramodule attached at the in-cabin side of the windshield of the equippedvehicle, image data captured by the imaging array of the camera moduleis saved in volatile memory of the camera module as a continuous looprecording of captured image data; wherein image data captured by theimaging array of the camera module that is saved in volatile memory isoverwritten by newly captured image data as part of a continuous looprecording of captured image data; wherein, with the camera moduleattached at the in-cabin side of the windshield of the equipped vehicle,and responsive to occurrence of an emergency event, image data capturedby the imaging array of the camera module that is saved in volatilememory for a first period of time prior to the occurrence of theemergency event is moved to non-volatile memory and image data capturedby the imaging array of the camera module at the time of and for asecond period of time after the occurrence of the emergency event issaved in non-volatile memory of the camera module; wherein, responsiveto the occurrence of the emergency event, the captured image data savedin non-volatile memory includes (i) image data captured by the imagingarray of the camera module and saved in volatile memory for the firstperiod of time prior to the occurrence of the emergency event and (ii)image data captured by the imaging array of the camera module for thesecond period of time after the occurrence of the emergency event; andwherein the second period of time after the occurrence of the emergencyevent lasts until a user-initiated event occurs.
 53. The vehicularvision system of claim 52, wherein the emergency event comprisesautomatic emergency braking of the equipped vehicle.
 54. The vehicularvision system of claim 52, wherein the emergency event comprises aforward collision warning generated to alert a driver of the equippedvehicle of a potential collision.
 55. The vehicular vision system ofclaim 52, wherein the emergency event comprises deployment of an airbagof the equipped vehicle.
 56. The vehicular vision system of claim 52,wherein the emergency event comprises a sudden deceleration of theequipped vehicle.
 57. The vehicular vision system of claim 56, whereinthe sudden deceleration comprises braking of the equipped vehicle at 0.4g or more.
 58. The vehicular vision system of claim 52, wherein thecontinuous loop recording of captured image data comprises a continuousloop recording of at least 20 seconds.
 59. The vehicular vision systemof claim 52, wherein, responsive to the occurrence of the emergencyevent, image data captured by the imaging array of the camera modulethat is saved in non-volatile memory includes image data captured by theimaging array of the camera module and saved in volatile memory for atleast 15 seconds prior to the occurrence of the emergency event.
 60. Thevehicular vision system of claim 52, wherein, responsive to theoccurrence of the emergency event, image data captured by the imagingarray of the camera module that is saved in non-volatile memory includesimage data captured by the imaging array of the camera module and savedin volatile memory for up to 15 seconds prior to the occurrence of theemergency event.
 61. The vehicular vision system of claim 52, wherein,responsive to the occurrence of the emergency event, image data capturedby the imaging array of the camera module that is saved in non-volatilememory includes image data captured by the imaging array of the cameramodule for at least 5 seconds after the occurrence of the emergencyevent.
 62. The vehicular vision system of claim 52, wherein, responsiveto the occurrence of the emergency event, image data captured by theimaging array of the camera module that is saved in non-volatile memoryincludes (i) image data captured by the imaging array of the cameramodule and saved in volatile memory for up to 15 seconds prior to theoccurrence of the emergency event and (ii) image data captured by theimaging array of the camera module for at least 5 seconds after theoccurrence of the emergency event.
 63. The vehicular vision system ofclaim 52, wherein the first period of time prior to the occurrence ofthe emergency event varies depending on a type of emergency event thatoccurs.
 64. The vehicular vision system of claim 52, wherein, with thecamera module attached at the in-cabin side of the windshield of theequipped vehicle, and responsive to the occurrence of the emergencyevent, the image data captured by the imaging array of the camera moduleand saved in volatile memory for the first period of time prior to theoccurrence of the emergency event and the image data captured by theimaging array of the camera module for the second period of time afterthe occurrence of the emergency event are saved in non-volatile memoryas a single data file.
 65. The vehicular vision system of claim 52,wherein the vehicular vision system is operable to communicate thecaptured image data saved in non-volatile memory to a remote device viaa wireless communication.
 66. The vehicular vision system of claim 52,wherein the spectral filtering at the imaging array comprises redspectral filtering that filters red light incident at some photosensorpixels of the at least one million photosensor pixels of the imagingarray.
 67. The vehicular vision system of claim 66, wherein the spectralfiltering at the imaging array comprises red-complement spectralfiltering that filters red-complement light incident at otherphotosensor pixels of the at least one million photosensor pixels of theimaging array.
 68. The vehicular vision system of claim 66, wherein thespectral filtering at the imaging array comprises green spectralfiltering that filters green light incident at other photosensor pixelsof the at least one million photosensor pixels of the imaging array. 69.The vehicular vision system of claim 68, wherein the spectral filteringat the imaging array comprises blue spectral filtering that filters bluelight incident at other photosensor pixels of the at least one millionphotosensor pixels of the imaging array.
 70. The vehicular vision systemof claim 52, wherein, with the camera module attached at the in-cabinside of the windshield of the equipped vehicle, the occurrence of theemergency event is determined, at least in part, by processing by theimage processor of image data captured by the imaging array of thecamera module.
 71. The vehicular vision system of claim 70, wherein theemergency event comprises automatic emergency braking of the equippedvehicle.
 72. The vehicular vision system of claim 71, wherein the imageprocessor comprises an image processing chip.